CN109986564A - Industrial machinery arm paths planning method - Google Patents
Industrial machinery arm paths planning method Download PDFInfo
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- CN109986564A CN109986564A CN201910418606.XA CN201910418606A CN109986564A CN 109986564 A CN109986564 A CN 109986564A CN 201910418606 A CN201910418606 A CN 201910418606A CN 109986564 A CN109986564 A CN 109986564A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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Abstract
The present invention provides a kind of industrial machinery arm paths planning methods, including establish mechanical arm mathematical model according to mechanical arm standard D-H parameter；Establish spatial obstacle object threedimensional model, go out the given optimal avoidance path from origin-to-destination using Quick Extended random tree algorithm search, to improve the stability during manipulator motion, with the key node in the path, quintic algebra curve interpolating function is established, which is smoothed.The present invention can be in fast searching under obstacle environment to a collisionless operating path, and effectively avoids evoking the mechanical arm resonance that mechanical arm rapidly generates in the course of work, reduces joint wear, enables mechanical arm smooth working, extends service life of equipment.
Description
Technical field
The present invention relates to a kind of industrial machinery arm paths planning methods.
Background technique
With the development of robot technology, industrial robot status in manufacturing industry is increasingly significant.Path planning is then machine
One of the hot subject of device human science domain, plays an important role to the development of industrial machinery arm.The main needle of path planning problem
Pair be in robot working space, in given barrier, robot can image processor obtain one from starting
The optimal avoidance path of pose arrival object pose.In actual production process, robotic arm path curve is good smooth
Property may be implemented displacement, speed, acceleration lines it is smooth, mechanical arm is smoothly worked operation, reduction mechanical arm
The abrasion in joint avoids evoking mechanical arm resonance, therefore smooth trajectory Journal of Sex Research is also most important.
Summary of the invention
The purpose of the present invention is to provide a kind of industrial machinery arm paths planning methods.
To solve the above problems, the present invention provides a kind of industrial machinery arm paths planning method, comprising:
Mechanical arm mathematical model is established according to robotic standard D-H parameter, establishes three-dimensional obstacle environment model according to institute
Mechanical arm mathematical model and three-dimensional obstacle environment model are stated, and is found in obstacle environment described in one using RRT algorithm
The mechanical arm of robot is from starting pose to the avoidance path of object pose；
It finds the key task point in the avoidance path and solves joint angle, planned using quintic algebra curve interpolation adjacent
Key task point between joint motions rule, according to joint motions rule, after output is to the avoidance path optimization
Smooth paths and joint angle characteristics of motion figure.
Further, in the above-mentioned methods, mechanical arm mathematical model is established according to robotic standard D-H parameter, establishes three
Obstacle environment model is tieed up to hinder according to the mechanical arm mathematical model and three-dimensional obstacle environment model, and using RRT algorithm
Hinder the mechanical arm for finding a robot in substance environment from starting pose to the avoidance path of object pose, including following step
It is rapid:
Step 1: establishing mechanical arm mathematical model according to robotic standard D-H parameter；
Step 2: establishing three-dimensional obstacle environment model, wherein barrier is described as A (B0, r) using spherical envelope,
Middle B0 (x0, y0, z0) is coordinate of the centre of sphere in basis coordinates system, and r is the radius of ball；
Step 3: random tree Tinit is extended, random tree by Tinit using Qinit as starting point, using Qgoal as
Target point；And the father node for extending Qinit as this；
Step 4: being extended since the father node Qinit currently defined, generated at random in map space C and explore point
Then Qrand finds the nearest point Qnear of distance Qrand in current random tree；
Step 5: on the direction along Qnear and Qrand, finding the Qnew that distance Qnear is deltaq, wherein
deltaq≤ρ；If not encountering barrier, Qnew is added in tree, goes to step 6；If encountering barrier, give up
Qnew goes back to step 4；
Step 6: updating random tree Tinit, the father node that Qnew is extended next time as random tree Tinit；
Step 7: the path point that comprehensive random tree Tinit has been planned obtains optimization avoidance path Q1 (Qinit), Q2,
Q3,...,Qn(Qgoal)。
Further, in the above-mentioned methods, step S2 finds the key task point in the avoidance path and solves joint
Angle plans the joint motions rule between adjacent key task point using quintic algebra curve interpolation, according to the joint motions
Rule exports the characteristics of motion figure to smooth paths and the mechanical arm after the avoidance path optimization, comprising:
Step 8: establishing quintic algebra curve interpolating function, comprising: angular displacement, angular speed, angular acceleration function expression
It is respectively as follows:
Constraint condition is as follows, relative to cubic algebraic curves, increases the constraint to start-stop point angular speed, and set t0For
0:
It solves:
Wherein, t is the time, and a is multinomial coefficient, and θ is joint angle vector, t0And tfFor the starting and termination of joint interpolation
Time point；
Step 9: suitable according to gained optimization avoidance path Q1 (Qinit), Q2, Q3 ..., Qn (Qgoal) in step 7
The corresponding joint coordinates vector of key task node in secondary acquirement optimization avoidance path；
Step 10: inverting to the joint coordinates vector in optimization avoidance path, generate sampled point in entire track and close
Save angular movement rule figure.
Compared with prior art, the present invention is by establishing mechanical arm mathematical model according to mechanical arm standard D-H parameter；It establishes
Spatial obstacle object threedimensional model goes out one using Quick Extended random tree algorithm search and given keeps away from the optimal of origin-to-destination
Hinder path, quintic algebra curve interpolation letter is established with the key node in the path to improve the stability during manipulator motion
Number, is smoothed the path.The present invention can in fast searching under obstacle environment to a collisionless operating path,
And effectively avoid evoking the mechanical arm resonance that mechanical arm rapidly generates in the course of work, joint wear is reduced, enables mechanical arm
Enough smooth workings, extend service life of equipment.
Detailed description of the invention
Fig. 1 is the flow chart of one embodiment of the invention；
Fig. 2 is the MATLAB emulation mechanical arm trajectory planning figure of one embodiment of the invention；
Fig. 3 is each joint displacements figure of robot of one embodiment of the invention；
Fig. 4 is each joint angle velocity chart of robot of one embodiment of the invention；
Fig. 5 is each joint angle acceleration diagram of robot of one embodiment of the invention.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
As shown in Figure 1, the present invention provides a kind of industrial machinery arm paths planning method, comprising:
Step S1 establishes mechanical arm mathematical model according to robotic standard D-H parameter, establishes three-dimensional obstacle environment model
One is found in obstacle environment according to the mechanical arm mathematical model and three-dimensional obstacle environment model, and using RRT algorithm
The mechanical arm of robot described in item is from starting pose to the avoidance path of object pose；
Step S2 finds the key task point in the avoidance path and solves joint angle, uses quintic algebra curve interpolation
It plans the joint motions rule between adjacent key task point, according to the joint motions rule, exports to the avoidance road
The characteristics of motion figure of smooth paths and joint angle after diameter optimization.
Here, the present invention provide it is a kind of based on the industrial machinery arm path of RRT algorithm and quintic algebra curve interpolating function advise
The method of drawing, is combined by mathematical modeling with emulation of the computer software, so that mechanical arm can be advised effectively in obstacle environment
A collisionless smooth paths are marked, robot trajectory planning's efficiency is improved, joint when mechanical arm rapidly works is effectively reduced
Abrasion.
In one embodiment of industrial machinery arm paths planning method of the invention, step S1, according to robotic standard D-H parameter
Mechanical arm mathematical model is established, establishes three-dimensional obstacle environment model according to the mechanical arm mathematical model and three-dimensional barrier ring
Border model, and the mechanical arm of a robot is found from starting pose to target in obstacle environment using RRT algorithm
The avoidance path of pose, comprising the following steps:
Step 1: establishing mechanical arm mathematical model according to robotic standard D-H parameter；
Step 2: establishing three-dimensional obstacle environment model, wherein barrier is described as A (B0, r) using spherical envelope,
Middle B0 (x0, y0, z0) is coordinate of the centre of sphere in basis coordinates system, and r is the radius of ball；
Step 3: random tree Tinit is extended, random tree by Tinit using Qinit as starting point, using Qgoal as
Target point；And the father node for extending Qinit as this；
Step 4: being extended since the father node Qinit currently defined, generated at random in map space C and explore point
Then Qrand finds the nearest point Qnear of distance Qrand in current random tree；
Step 5: on the direction along Qnear and Qrand, finding the Qnew that distance Qnear is deltaq, wherein
deltaq≤ρ；If not encountering barrier, Qnew is added in tree, goes to step 6；If encountering barrier, give up
Qnew goes back to step 4；
Step 6: updating random tree Tinit, the father node that Qnew is extended next time as random tree Tinit；
Step 7: the path point that comprehensive random tree Tinit has been planned obtains avoidance path Q1 (Qinit), Q2, Q3 ...,
Qn(Qgoal)。
In one embodiment of industrial machinery arm paths planning method of the invention, step S2 is found in the avoidance path
Key task point simultaneously solves joint angle, and the joint motions rule between adjacent key task point are planned using quintic algebra curve interpolation
Rule exports the fortune to smooth paths and the mechanical arm after the avoidance path optimization according to the joint motions rule
Dynamic rule figure, comprising:
Step 8: establishing quintic algebra curve interpolating function, the function expression including angular displacement, angular speed, angular acceleration point
Not are as follows:
Constraint condition is as follows, relative to cubic algebraic curves, increases the constraint to start-stop point angular speed, and set t0For
0:
It solves:
Wherein, t is the time, and a is multinomial coefficient, and θ is joint angle vector, t0And tfFor the starting and termination of joint interpolation
Time point；
Step 9: according to gained avoidance path Q1 (Qinit), Q2, Q3 ..., Qn (Qgoal) in step 7, sequentially obtaining sequence
The corresponding joint coordinates vector of key task node in column；
Step 10: inverting to the joint coordinates vector in sequence, generate the sampled point joint angle characteristics of motion in entire track
Figure.
The present invention is according to robotic standard D-H parameter founding mathematical models；It is planned in obstacle environment by RRT algorithm
A collisionless path out；Inverse solution is carried out to the position auto―control Ti of the key task node in path and acquires corresponding qi；Pass through
Quintic algebra curve interpolation optimizes the characteristics of motion of consecutive points, obtains characteristics of motion curve graph；Therefore, the present invention can make machinery
Arm can effectively cook up a collisionless smooth paths in obstacle environment, improve robot trajectory planning's efficiency, effectively
Reduce the abrasion in joint when mechanical arm rapidly works.
Specifically, this example proposes a kind of seven-degree of freedom robot paths planning method, as shown in Figure 1, this example mechanical arm
DH parameter is as shown in table 1:
Table 1: seven freedom robotic arm DH parameter
Step 1: establishing mechanical arm mathematical model according to standard D-H parameter；
Step 2: establishing obstacle environment, barrier is described as A (B using spherical envelope0, r), wherein B0(x0,y0,z0) be
Coordinate of the centre of sphere in basis coordinates system, r are the radius of ball；
Judge whether mechanical arm collides with barrier, formula expression are as follows:
In formula: R is by robot linkage envelope into the radius after cylindrical body, and r is spherical barrier radius, and c is cylindrical body
The distance between axis and the center of circle；
Step 3: to random tree TinitIt is extended, random tree is by TinitBy QinitAs starting point, by QgoalAs target
Point；And by QinitFather node as this extension；
Step 4: from the father node Q currently definedinitStart to extend, is generated at random in map space C and explore point Qrand,
Then distance Q is found in current random treerandNearest point Qnear；
Step 5: on the direction along Qnear and Qrand, find distance Qnear be deltaq Qnew, deltaq≤
ρ；If not encountering barrier, QnewIt is added in tree, goes to step 6；If encountering barrier, give up Qnew, go back to step
Four；
Step 6: updating random tree Tinit, by QnewAs random tree TinitThe father node extended next time；
Step 7: comprehensive random tree TinitThe path point planned obtains path Q1(Qinit),Q2,Q3,...,Qn(Qgoal)；
Step 8: establish quintic algebra curve interpolating function, angular displacement, angular speed, angular acceleration function expression are as follows:
Constraint condition is as follows, relative to cubic algebraic curves, increases the constraint to start-stop point angular speed, and set t0For
0:
It solves:
Wherein, t is the time, and a is multinomial coefficient, and θ is joint angle vector, t0And tfFor the starting and termination of joint interpolation
Time point；
Step 9: according to gained optimization Qn in step 7, sequentially obtaining the corresponding joint of key task node in sequence
Coordinate vector；
Originate pose
Object pose
According to starting and object pose against obtaining starting joint angle after solution:
Q1=[- 0.4818,1.3527,0.0802,2.1717,0.2074,2.7519,0.6567]
Q2=[- 1.3905, -2.633,0.2288,1.3528,3.0267, -1.2938, -1.5188]
Step 10: it inverts to joint coordinates vector in sequence, generates sampled point joint angle characteristics of motion figure in entire track,
As shown in Figure 2-5.
The present invention discloses a kind of industrial machinery arm paths planning method based on RRT algorithm and quintic algebra curve interpolation.It
Including establishing mechanical arm mathematical model according to mechanical arm standard D-H parameter；Spatial obstacle object threedimensional model is established, is expanded using quick
Exhibition random tree algorithm search goes out the given optimal avoidance path from origin-to-destination, during raising manipulator motion
Stability quintic algebra curve interpolating function is established with the key node in the path, which is smoothed.This hair
It is bright can be in fast searching under obstacle environment to a collisionless operating path, and effectively avoid evoking mechanical arm and rapidly work
The mechanical arm resonance generated in the process, reduces joint wear, enables mechanical arm smooth working, extend service life of equipment.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
Obviously, those skilled in the art can carry out various modification and variations without departing from spirit of the invention to invention
And range.If in this way, these modifications and changes of the present invention belong to the claims in the present invention and its equivalent technologies range it
Interior, then the invention is also intended to include including these modification and variations.
Claims (3)
1. a kind of industrial machinery arm paths planning method characterized by comprising
Mechanical arm mathematical model is established according to robotic standard D-H parameter, establishes three-dimensional obstacle environment model according to the machine
Tool arm mathematical model and three-dimensional obstacle environment model, and the machine is found in obstacle environment using RRT algorithm
The mechanical arm of people is from starting pose to the avoidance path of object pose；
It finds the key task point in the avoidance path and solves joint angle, adjacent pass is planned using quintic algebra curve interpolation
Joint motions rule between key task point is exported according to the joint motions rule to flat after the avoidance path optimization
The characteristics of motion figure of ways diameter and joint angle.
2. industrial machinery arm paths planning method as described in claim 1, which is characterized in that joined according to robotic standard D-H
Number establishes mechanical arm mathematical model, establishes three-dimensional obstacle environment model according to the mechanical arm mathematical model and three-dimensional barrier
Environmental model, and the mechanical arm of a robot is found from starting pose to mesh in obstacle environment using RRT algorithm
The avoidance path of mark appearance, comprising the following steps:
Step 1: establishing mechanical arm mathematical model according to robotic standard D-H parameter；
Step 2: establishing three-dimensional obstacle environment model, wherein barrier is described as A (B0, r) using spherical envelope, wherein B0
(x0, y0, z0) is coordinate of the centre of sphere in basis coordinates system, and r is the radius of ball；
Step 3: random tree Tinit is extended, random tree by Tinit using Qinit as starting point, using Qgoal as target
Point；And the father node for extending Qinit as this；
Step 4: being extended since the father node Qinit currently defined, generated at random in map space C and explore point Qrand, so
The nearest point Qnear of distance Qrand is found in current random tree afterwards；
Step 5: on the direction along Qnear and Qrand, finding the Qnew that distance Qnear is deltaq, wherein deltaq
≤ρ；If not encountering barrier, Qnew is added in tree, goes to step 6；If encountering barrier, give up Qnew, goes back to
Step 4；
Step 6: updating random tree Tinit, the father node that Qnew is extended next time as random tree Tinit；
Step 7: the path point that comprehensive random tree Tinit has been planned obtains optimization avoidance path Q1 (Qinit), Q2,
Q3,...,Qn(Qgoal)。
3. industrial machinery arm paths planning method as described in claim 1, which is characterized in that step S2 finds the avoidance
Key task point in path simultaneously solves joint angle, and the pass between adjacent key task point is planned using quintic algebra curve interpolation
The characteristics of motion is saved, according to the joint motions rule, is exported to the smooth paths and the machine after the avoidance path optimization
The characteristics of motion figure of tool arm, comprising:
Step 8: establishing quintic algebra curve interpolating function, comprising: angular displacement, angular speed, angular acceleration function expression difference
Are as follows:
Constraint condition is as follows, relative to cubic algebraic curves, increases the constraint to start-stop point angular speed, and set t0It is 0:
It solves:
Wherein, t is the time, and a is multinomial coefficient, and θ is joint angle vector, t0And tfStarting and termination time for joint interpolation
Point；
Step 9: according to gained optimization avoidance path Q1 (Qinit), Q2, Q3 ..., Qn (Qgoal) in step 7, sequentially taking
Obtain the corresponding joint coordinates vector of key task node in optimization avoidance path；
Step 10: inverting to the joint coordinates vector in optimization avoidance path, generate sampled point joint angle in entire track
Characteristics of motion figure.
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| CN114347008B (en) * | 2022-01-18 | 2024-06-25 | 广东原点智能技术有限公司 | Unordered workpiece grabbing method and device based on industrial robot and intelligent terminal |
| CN114633258A (en) * | 2022-04-24 | 2022-06-17 | 中国铁建重工集团股份有限公司 | Method for planning mechanical arm movement track in tunnel environment and related device |
| CN115008475A (en) * | 2022-07-21 | 2022-09-06 | 北京工业大学 | Double-mechanical-arm collaborative obstacle avoidance movement planning optimization method based on mixed geometric representation |
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Application publication date: 20190709 |